考虑动力学约束的智能车辆路径跟踪控制研究

Research on Intelligent Vehicle Routing Control System Considering Dynamic Constraints

针对智能车辆的路径跟踪控制方法中传统的MPC控制器往往只考虑控制量约束和控制增量约束、未考虑输出量约束的情况,以线性2自由度车辆侧向动力学模型作为预测模型,提出了一种路径跟踪控制方法。通过将车辆在路径跟踪过程中的输出量质心侧偏角和横摆角速度约束在一个操纵稳定性状态平稳域内,将路径跟踪问题转变为在多种约束条件下求解控制系统最优值的问题,以此来跟踪目标路径。采用Carsim和Matlab/Simulink进行联合仿真验证,结果显示:所设计的控制器能较好地跟踪参考路径,控制器在跟踪目标路径的过程中表现平稳、可靠。

At present,the application of many control methods in the path tracking control method of intelligent vehicles does not take into account the dynamic constraints of the vehicle. Conventional MPC controllers often only consider the control volume constraints and the control incremental constraints,It is not reasonable to consider the constraints. In this paper,a linear two-degree-offreedom vehicle lateral dynamics model is used as a predictive model of the model predictive controltheory. A path-following control method is proposed. By constraining the center-of-mass and yaw rate of the output of the vehicle during a path-following process in a stable region of the manipulative stability state,the path-tracking problem is transformed into solving the optimal value of the control system under a variety of constraints in order to track the target path. Simultaneous simulation with Carsim and Matlab/Simulink shows that the designed controller can track the reference path well and the controller performs smoothly and reliably in tracking the target path...